Free Vibration

Single DOF without damping

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NEWTON’S SECOND LAW
Translational System

Static Equilibrium:
ΣF = 0
mg = k𝛿𝑠𝑡
Dynamic Equilibrium:
ΣF = m𝑥
m𝑥 = mg – k(x+𝛿𝑠𝑡 )

m𝑥 + kx = 0

Is called the equation of motion

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Let x(t) = A𝑒 𝑟𝑡 and substitute in the equation of motion.
A is constant.
r is the root of the equation.
m𝑥 + kx = 0

A(m𝑟 2 +k) = 0

Since A cannot be zero, we have

(m𝑟 2 +k) = 0

𝑘 1/2
𝑘
r=± − = ±𝑖𝜔𝑛 , 𝜔𝑛 =
𝑚 𝑚

x(t) = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡

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 x(t) = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡

Let the boundary conditions be:

x(0) = 𝑥0 → 𝐴1 = 𝑥0
𝑥0
𝑥(0) = 𝑥0 → 𝐴2 =
𝜔𝑛

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x(t) = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡

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6
Equation of motion:

Natural Frequency:

Resulting motion:

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In general, the natural frequency can be obtained directly
from the equation of motion by taking the square root of
the ratio of the coefficient of the displacement coordinate
to the coefficient of the inertia coordinate.

m𝑥 + kx = 0

𝑘
𝜔𝑛 =
𝑚

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 When the weight is considered?

Static Affected No affect Affected

Dynamic Affected Affected Affected

Results mg is mg is mg is
cancelled considered cancelled 9
Rotational System

Σ𝑀𝑡 = I𝜃

I𝜃 = -𝑘𝑡 𝜃

I𝜃 + 𝑘𝑡 𝜃 = 0

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 Rotational Translational
System System

I𝜃 + 𝑘𝑡 𝜃 = 0

𝑘𝑡 𝑘
𝜔𝑛 = 𝜔𝑛 =
𝐼 𝑚

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Rotational Elements
Σ𝑀𝑡 = I𝜃 Σ𝑀 = I𝜃 Σ𝑇 = I𝜃

I : is the mass moment of inertia (kg.𝑚2 )

𝐼𝐺 = Disc

Ring

Bar

Sphere

Point
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To find mass moment of inertia about any other
axes, use:

𝐼 = 𝐼𝐺 + 𝑚𝑑2

m: is the mass (kg).

d: is the distance from the center of mass to the

required position (m).

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Rotational Elements

𝑘𝑡 is the torsional spring constant ( N.m/rad)

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Stiffness and Flexibility
Stiffness is defined as the force required to produce
a unit displacement in the direction specified.

If (x) is the specified displacement under a force (F),

the stiffness is determined from the ratio:

𝐹
𝑘=
𝑥

Flexibility is the reciprocal of the stiffness. It is

designated by the letter (a) and is defined by the
equation:

1 𝑥
𝑎= =
𝑘 𝐹
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Useful Formulas
Element Stiffness

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Useful Formulas
Element Stiffness

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e.g.1 Find the natural frequency for the system shown
in the figure.

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SIMPLE ENERGY METHOD

For conservative system the sum of the total kinetic energy

and that of the potential energy of a vibrating system must
equal constant i.e.:

It is found that the above equation gives directly the

equation of motion of a vibrating system. While when
equate the max KE of the system with the max PE of the
system gives the natural angular frequency for the system.
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 e.g.2 Use the simple energy method to find the
equation of motion and natural frequency for the
system shown in the figure.

e.g.3 Find the

natural frequency
of a simple
pendulum with a
mass (m) and a
rope length (l).

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Natural Frequency of Compound Pendulum
Any body pivoted at a point other than its center of
mass will oscillate about that point under its own
gravitational force. Such system is known as a
compound pendulum.

The equation of motion is

found to be:

𝐼0

And the natural frequency:

𝑊𝑑 𝑚𝑔𝑑
𝜔𝑛 = =
𝐼0 𝐼0
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Comparing the natural frequency of the compound
pendulum with that of the simple pendulum:

Simple Compound

𝑔
𝜔𝑛 = 𝑚𝑔𝑑
𝑙 𝜔𝑛 =
𝐼0

We can find the length of the equivalent simple

pendulum:

𝐼0
𝑙= …...E1
𝑚𝑑

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If we replace 𝐼0 by 𝑚𝑘02 where 𝑘0 is the radius of
gyration of the body about O, the natural frequency
and equivalent length will be:

𝑔𝑑
𝜔𝑛 = …...E2
𝑘02

𝑘02 …...E3
𝑙=
𝑑

If 𝑘0 denotes the radius of gyration of the body about

G, we have:

𝑘02 = 𝑘𝐺2 + 𝑑 2 …...E4

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Substitute E4 into E3 to get:

𝑘𝐺2 …...E5
𝑙= +𝑑
𝑑

If the line OG is extended to

point A such that:

𝑘𝐺2 …...E6
𝐺𝐴 =
𝑑

So E5 will be:

𝑙 = 𝐺𝐴 + 𝑑 = OA …...E7

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So E2 can be written as:

𝑔 𝑔
𝜔𝑛 = =
𝑙 𝑂𝐴

This equation shows that, no matter whether the body is

pivoted from O or A, its natural frequency is the same.
The point A is called:

Center of Percussion

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 Center of Percussion
The concepts of compound pendulum and center of
percussion can be used in many practical applications:

1- A hammer can be shaped to have the center of

percussion at the hammer head while the center of
rotation is at the handle. In this case, the impact force at
the hammer head will not cause any normal reaction at
the handle.

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2- In a baseball bat, if the ball is made to
strike at the center of percussion while
the center of rotation is at the hands,
no reaction perpendicular to the bat
will be experienced by the batter. On
the other hand, if the ball strikes the bat
near the free end or near the hands, the
batter will experience pain in the hands
as a results of the reaction
perpendicular to the bat.

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3- In Izod (impact) testing of
materials, the specimen is
suitably notched and held in a
vice fixed to the base of the
machine. The deformation and
bending of the pendulum can
be reduced if the center of
percussion is located near the
striking edge. In this case, the
pivot will be free of any
impulsive reaction.

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4- In an automobile, if the front wheel strike a bump, the
passengers will not feel any reaction if the center of
percussion of the vehicle is located near the rear axle and
vice versa.

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e.g.4 A 0.453 kg mass attached to a light spring
elongates it 7.87 mm. Determine the natural frequency
of the system.

e.g.5 A 4.53 kg mass attached to a lower end of a

spring whose upper end is fixed. The mass vibrates with
a natural period of 0.45 s. Determine the natural
period when a 2.26 kg mass is attached to mid point of
the same spring with the upper and lower ends fixed.

e.g.6 In figure shown a steel wire length 2 m and 0.5

cm in diameter with a modulus of rigidity 80 GPa,
makes 10 oscillations at 30.2 s. Find the moment of
inertia for the disc attached at it’s end.

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e.g.7 A connecting rod weighing
21.34 N oscillates 53 times in 1
minute when suspended as
shown. Determine it’s moment of
inertia about it’s center of gravity
which is loaded 0.254 m from the
point of support.

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e.g.8 Find the time period of the fluid in a U-tube
manometer shown by using Newton Method.

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e.g.9 Find the natural frequency for the system shown
(assume massless links) by using Energy Method.

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e.g.10 For the purpose of analysis, it is desired to reduce
the system shown to a simple linear spring-mass system.
Determine (m) and (k) in terms of the given quantities.

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e.g.11 Determine the effect of the mass of the spring on
the natural frequency of the system.

e.g.12 Find the natural frequency for the system shown in

the figure using the energy method.

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